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  4. Six-legged robot for service operations
 
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1996
Conference Paper
Title

Six-legged robot for service operations

Abstract
New results on the development of an adaptive sixlegged hexagonal walking robot and its control system are presented. The major part of the paper considers control of foot force distribution and control of body motion based on the information about force foot reactions and the information about the main force vector acting on the robot's body. Inserting and drilling operations based on the force control are considered. Keywords: Walking robot, force sensing and control, active compliance and accommodation. the body vehicle and force reactions by interaction of handling and object, too. This report presents the results of the work carried out at the Fraunhofer-Institute for Factory Operation and Automation (Magdeburg, Germany), and also at joint research with the Institute for Mechanics of Moscow State University.
Author(s)
Schmucker, U.
Schneider, A.
Ihme, T.
Mainwork
1st Euromicro Workshop on Advanced Mobile Robots 1996. Proceedings  
Conference
Euromicro Workshop on Advanced Mobile Robots (EUROBOT) 1996  
Open Access
File(s)
Download (182.74 KB)
Rights
Use according to copyright law
DOI
10.24406/publica-r-326907
10.1109/EURBOT.1996.551892
Language
English
Fraunhofer-Institut für Fabrikbetrieb und -automatisierung IFF  
Keyword(s)
  • accomodation control

  • active compliance

  • force sensing

  • walking robot

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